OpenRaiser/Intern-Atlas huggingface dataset:
A Unified Bellman Optimality Principle Combining Reward Maximization and Empowerment
Venue: arXiv cs.LG 2020
Year: 2020

Empowerment is an information-theoretic method that can be used to intrinsically motivate learning agents. It attempts to maximize an agent's control over the environment by encouraging visiting states with a large number of reachable next states. Empowered learning has been shown to lead to complex behaviors, without requiring an explicit reward signal. In this paper, we investigate the use of empowerment in the presence of an extrinsic reward signal. We hypothesize that empowerment can guide reinforcement learning (RL) agents to find good early behavioral solutions by encouraging highly empowered states. We propose a unified Bellman optimality principle for empowered reward maximization. Our empowered reward maximization approach generalizes both Bellman's optimality principle as well as recent information-theoretical extensions to it. We prove uniqueness of the empowered values and show convergence to the optimal solution. We then apply this idea to develop off-policy actor-critic RL algorithms which we validate in high-dimensional continuous robotics domains (MuJoCo). Our methods demonstrate improved initial and competitive final performance compared to model-free state-of-the-art techniques.
A comparative study of general fuzzy min-max neural networks for pattern classification problems
Venue: arXiv cs.LG 2020
Year: 2020

General fuzzy min-max (GFMM) neural network is a generalization of fuzzy neural networks formed by hyperbox fuzzy sets for classification and clustering problems. Two principle algorithms are deployed to train this type of neural network, i.e., incremental learning and agglomerative learning. This paper presents a comprehensive empirical study of performance influencing factors, advantages, and drawbacks of the general fuzzy min-max neural network on pattern classification problems. The subjects of this study include (1) the impact of maximum hyperbox size, (2) the influence of the similarity threshold and measures on the agglomerative learning algorithm, (3) the effect of data presentation order, (4) comparative performance evaluation of the GFMM with other types of fuzzy min-max neural networks and prevalent machine learning algorithms. The experimental results on benchmark datasets widely used in machine learning showed overall strong and weak points of the GFMM classifier. These outcomes also informed potential research directions for this class of machine learning algorithms in the future.
Characteristics-based Simulink implementation of first-order quasilinear partial differential equations
Venue: arXiv cs.MS 2020
Year: 2020

The paper deals with solving first-order quasilinear partial differential equations in an online simulation environment, such as Simulink, utilizing the well-known and well-recommended method of characteristics. Compared to the commonly applied space discretization methods on static grids, the characteristics-based approach provides better numerical stability. Simulink subsystem implementing the method of characteristics is developed. It employs Simulink's built-in solver and its zero-crossing detection algorithm to perform simultaneous integration of a pool of characteristics as well as to create new characteristics dynamically and discard the old ones. Numerical accuracy of the solution thus obtained is established. The subsystem has been tested on a full-state feedback example and produced better results than the space discretization-based "method of lines". The implementation is available for download and can be used in a wide range of models.
Neural Network based Explicit Mixture Models and Expectation-maximization based Learning
Venue: arXiv cs.LG 2020
Year: 2020

We propose two neural network based mixture models in this article. The proposed mixture models are explicit in nature. The explicit models have analytical forms with the advantages of computing likelihood and efficiency of generating samples. Computation of likelihood is an important aspect of our models. Expectation-maximization based algorithms are developed for learning parameters of the proposed models. We provide sufficient conditions to realize the expectation-maximization based learning. The main requirements are invertibility of neural networks that are used as generators and Jacobian computation of functional form of the neural networks. The requirements are practically realized using a flow-based neural network. In our first mixture model, we use multiple flow-based neural networks as generators. Naturally the model is complex. A single latent variable is used as the common input to all the neural networks. The second mixture model uses a single flow-based neural network as a generator to reduce complexity. The single generator has a latent variable input that follows a Gaussian mixture distribution. We demonstrate efficiency of proposed mixture models through extensive experiments for generating samples and maximum likelihood based classification.
HotPoW: Finality from Proof-of-Work Quorums
Venue: arXiv cs.CR 2020
Year: 2020

A fundamental conflict of many proof-of-work systems is that they want to achieve inclusiveness and security at the same time. We analyze and resolve this conflict with a theory of proof-of-work quorums, which enables a new bridge between Byzantine and Nakamoto consensus. The theory yields stochastic uniqueness of quorums as a function of a security parameter. We employ the theory in HotPoW, a scalable permissionless distributed log protocol that supports finality based on the pipelined three-phase commit previously presented for HotStuff. We evaluate HotPoW and variants with adversarial modifications by simulation. Results show that the protocol can tolerate network latency, churn, and targeted attacks on consistency and liveness with a small storage overhead compared to plain Nakamoto consensus and less complexity than protocols that rely on sidechains for finality.
DROGON: A Trajectory Prediction Model based on Intention-Conditioned Behavior Reasoning
Venue: arXiv cs.CV 2020
Year: 2020

We propose a Deep RObust Goal-Oriented trajectory prediction Network (DROGON) for accurate vehicle trajectory prediction by considering behavioral intentions of vehicles in traffic scenes. Our main insight is that the behavior (i.e., motion) of drivers can be reasoned from their high level possible goals (i.e., intention) on the road. To succeed in such behavior reasoning, we build a conditional prediction model to forecast goal-oriented trajectories with the following stages: (i) relational inference where we encode relational interactions of vehicles using the perceptual context; (ii) intention estimation to compute the probability distributions of intentional goals based on the inferred relations; and (iii) behavior reasoning where we reason about the behaviors of vehicles as trajectories conditioned on the intentions. To this end, we extend the proposed framework to the pedestrian trajectory prediction task, showing the potential applicability toward general trajectory prediction.
A computational EXFOR database
Venue: arXiv cs.DL 2020
Year: 2020

The EXFOR library is a useful resource for many people in the field of nuclear physics. In particular, the experimental data in the EXFOR library serves as a starting point for nuclear data evaluations. There is an ongoing discussion about how to make evaluations more transparent and reproducible. One important ingredient may be convenient programmatic access to the data in the EXFOR library from high-level languages. To this end, the complete EXFOR library can be converted to a MongoDB database. This database can be conveniently searched and accessed from a wide variety of programming languages, such as C++, Python, Java, Matlab, and R. This contribution provides some details about the successful conversion of the EXFOR library to a MongoDB database and shows simple usage examples to underline its merits. All codes required for the conversion have been made available online and are open-source. In addition, a Dockerfile has been created to facilitate the installation process.
On the Theory of Policy Gradient Methods: Optimality, Approximation, and Distribution Shift
Venue: arXiv cs.LG 2020
Year: 2020

Policy gradient methods are among the most effective methods in challenging reinforcement learning problems with large state and/or action spaces. However, little is known about even their most basic theoretical convergence properties, including: if and how fast they converge to a globally optimal solution or how they cope with approximation error due to using a restricted class of parametric policies. This work provides provable characterizations of the computational, approximation, and sample size properties of policy gradient methods in the context of discounted Markov Decision Processes (MDPs). We focus on both: "tabular" policy parameterizations, where the optimal policy is contained in the class and where we show global convergence to the optimal policy; and parametric policy classes (considering both log-linear and neural policy classes), which may not contain the optimal policy and where we provide agnostic learning results. One central contribution of this work is in providing approximation guarantees that are average case -- which avoid explicit worst-case dependencies on the size of state space -- by making a formal connection to supervised learning under distribution shift. This characterization shows an important interplay between estimation error, approximation error, and exploration (as characterized through a precisely defined condition number).
ScarfNet: Multi-scale Features with Deeply Fused and Redistributed Semantics for Enhanced Object Detection
Venue: arXiv cs.CV 2020
Year: 2020

Convolutional neural network (CNN) has led to significant progress in object detection. In order to detect the objects in various sizes, the object detectors often exploit the hierarchy of the multi-scale feature maps called feature pyramid, which is readily obtained by the CNN architecture. However, the performance of these object detectors is limited since the bottom-level feature maps, which experience fewer convolutional layers, lack the semantic information needed to capture the characteristics of the small objects. In order to address such problem, various methods have been proposed to increase the depth for the bottom-level features used for object detection. While most approaches are based on the generation of additional features through the top-down pathway with lateral connections, our approach directly fuses multi-scale feature maps using bidirectional long short term memory (biLSTM) in effort to generate deeply fused semantics. Then, the resulting semantic information is redistributed to the individual pyramidal feature at each scale through the channel-wise attention model. We integrate our semantic combining and attentive redistribution feature network (ScarfNet) with baseline object detectors, i.e., Faster R-CNN, single-shot multibox detector (SSD) and RetinaNet. Our experiments show that our method outperforms the existing feature pyramid methods as well as the baseline detectors and achieve the state of the art performances in the PASCAL VOC and COCO detection benchmarks.
Clinical acceptance of software based on artificial intelligence technologies (radiology)
Venue: arXiv cs.AI 2020
Year: 2020

Aim: provide a methodological framework for the process of clinical tests, clinical acceptance, and scientific assessment of algorithms and software based on the artificial intelligence (AI) technologies. Clinical tests are considered as a preparation stage for the software registration as a medical product. The authors propose approaches to evaluate accuracy and efficiency of the AI algorithms for radiology.
Neural Simplex Architecture
Venue: arXiv cs.AI 2020
Year: 2020

We present the Neural Simplex Architecture (NSA), a new approach to runtime assurance that provides safety guarantees for neural controllers (obtained e.g. using reinforcement learning) of autonomous and other complex systems without unduly sacrificing performance. NSA is inspired by the Simplex control architecture of Sha et al., but with some significant differences. In the traditional approach, the advanced controller (AC) is treated as a black box; when the decision module switches control to the baseline controller (BC), the BC remains in control forever. There is relatively little work on switching control back to the AC, and there are no techniques for correcting the AC's behavior after it generates a potentially unsafe control input that causes a failover to the BC. Our NSA addresses both of these limitations. NSA not only provides safety assurances in the presence of a possibly unsafe neural controller, but can also improve the safety of such a controller in an online setting via retraining, without overly degrading its performance. To demonstrate NSA's benefits, we have conducted several significant case studies in the continuous control domain. These include a target-seeking ground rover navigating an obstacle field, and a neural controller for an artificial pancreas system.
Learning Variations in Human Motion via Mix-and-Match Perturbation
Venue: arXiv cs.LG 2020
Year: 2020

Human motion prediction is a stochastic process: Given an observed sequence of poses, multiple future motions are plausible. Existing approaches to modeling this stochasticity typically combine a random noise vector with information about the previous poses. This combination, however, is done in a deterministic manner, which gives the network the flexibility to learn to ignore the random noise. In this paper, we introduce an approach to stochastically combine the root of variations with previous pose information, which forces the model to take the noise into account. We exploit this idea for motion prediction by incorporating it into a recurrent encoder-decoder network with a conditional variational autoencoder block that learns to exploit the perturbations. Our experiments demonstrate that our model yields high-quality pose sequences that are much more diverse than those from state-of-the-art stochastic motion prediction techniques.
Answering Questions about Data Visualizations using Efficient Bimodal Fusion
Venue: arXiv cs.CV 2020
Year: 2020

Chart question answering (CQA) is a newly proposed visual question answering (VQA) task where an algorithm must answer questions about data visualizations, e.g. bar charts, pie charts, and line graphs. CQA requires capabilities that natural-image VQA algorithms lack: fine-grained measurements, optical character recognition, and handling out-of-vocabulary words in both questions and answers. Without modifications, state-of-the-art VQA algorithms perform poorly on this task. Here, we propose a novel CQA algorithm called parallel recurrent fusion of image and language (PReFIL). PReFIL first learns bimodal embeddings by fusing question and image features and then intelligently aggregates these learned embeddings to answer the given question. Despite its simplicity, PReFIL greatly surpasses state-of-the art systems and human baselines on both the FigureQA and DVQA datasets. Additionally, we demonstrate that PReFIL can be used to reconstruct tables by asking a series of questions about a chart.
Modelling Segmented Cardiotocography Time-Series Signals Using One-Dimensional Convolutional Neural Networks for the Early Detection of Abnormal Birth Outcomes
Venue: arXiv cs.LG 2020
Year: 2020

Gynaecologists and obstetricians visually interpret cardiotocography (CTG) traces using the International Federation of Gynaecology and Obstetrics (FIGO) guidelines to assess the wellbeing of the foetus during antenatal care. This approach has raised concerns among professionals with regards to inter- and intra-variability where clinical diagnosis only has a 30\% positive predictive value when classifying pathological outcomes. Machine learning models, trained with FIGO and other user derived features extracted from CTG traces, have been shown to increase positive predictive capacity and minimise variability. This is only possible however when class distributions are equal which is rarely the case in clinical trials where case-control observations are heavily skewed in favour of normal outcomes. Classes can be balanced using either synthetic data derived from resampled case training data or by decreasing the number of control instances. However, this either introduces bias or removes valuable information. Concerns have also been raised regarding machine learning studies and their reliance on manually handcrafted features. While this has led to some interesting results, deriving an optimal set of features is considered to be an art as well as a science and is often an empirical and time consuming process. In this paper, we address both of these issues and propose a novel CTG analysis methodology that a) splits CTG time-series signals into n-size windows with equal class distributions, and b) automatically extracts features from time-series windows using a one dimensional convolutional neural network (1DCNN) and multilayer perceptron (MLP) ensemble. Collectively, the proposed approach normally distributes classes and removes the need to handcrafted features from CTG traces.
Analytical Performance Models for NoCs with Multiple Priority Traffic Classes
Venue: arXiv cs.PF 2020
Year: 2020

Networks-on-chip (NoCs) have become the standard for interconnect solutions in industrial designs ranging from client CPUs to many-core chip-multiprocessors. Since NoCs play a vital role in system performance and power consumption, pre-silicon evaluation environments include cycle-accurate NoC simulators. Long simulations increase the execution time of evaluation frameworks, which are already notoriously slow, and prohibit design-space exploration. Existing analytical NoC models, which assume fair arbitration, cannot replace these simulations since industrial NoCs typically employ priority schedulers and multiple priority classes. To address this limitation, we propose a systematic approach to construct priority-aware analytical performance models using micro-architecture specifications and input traffic. Our approach consists of developing two novel transformations of queuing system and designing an algorithm which iteratively uses these two transformations to estimate end-to-end latency. Our approach decomposes the given NoC into individual queues with modified service time to enable accurate and scalable latency computations. Specifically, we introduce novel transformations along with an algorithm that iteratively applies these transformations to decompose the queuing system. Experimental evaluations using real architectures and applications show high accuracy of 97% and up to 2.5x speedup in full-system simulation.
Modelling Regional Crime Risk using Directed Graph of Check-ins
Venue: arXiv cs.SI 2020
Year: 2020

The location-based social network, Foursquare, reflects the human activities of a city. The mobility dynamics inferred from Foursquare helps us understanding urban social events like crime In this paper, we propose a directed graph from the aggregated movement between regions using Foursquare data. We derive region risk factor from the movement direction, quantity and crime history in different periods of the day. Later, we propose a new set of features, DIrected graph Flow FEatuRes (DIFFER) which are associated with region risk factor. The reliable correlations between DIFFER and crime count are observed. We verify the effectiveness of the DIFFER in monthly crime count using Linear, XGBoost, and Random Forest regression in two cities, Chicago and New York City.
Envisioning Tool Support for Designing Privacy-Aware Internet of Thing Applications
Venue: arXiv cs.SE 2020
Year: 2020

The design and development process for Internet of Things (IoT) applications is more complicated than for desktop, mobile, or web applications. IoT applications require both software and hardware to work together across multiple different types of nodes (e.g., microcontrollers, system-on-chips, mobile phones, miniaturised single-board computers, and cloud platforms) with different capabilities under different conditions. IoT applications typically collect and analyse personal data that can be used to derive sensitive information about individuals. Without proper privacy protections in place, IoT applications could lead to serious privacy violations. Thus far, privacy concerns have not been explicitly considered in software engineering processes when designing and developing IoT applications, partly due to a lack of tools, technologies, and guidance. This paper presents a research vision that argues the importance of developing a privacy-aware IoT application design tool to address the challenges mentioned above. This tool should not only transform IoT application designs into privacy-aware application designs but also validate and verify them. First, we outline how this proposed tool should work in practice and its core functionalities. Then, we identify research challenges and potential directions towards developing the proposed tool. We anticipate that this proposed tool will save many engineering hours which engineers would otherwise need to spend on developing privacy expertise and applying it. We also highlight the usefulness of this tool towards privacy education and privacy compliance.
Fast Manipulability Maximization Using Continuous-Time Trajectory Optimization
Venue: arXiv cs.RO 2020
Year: 2020

A significant challenge in manipulation motion planning is to ensure agility in the face of unpredictable changes during task execution. This requires the identification and possible modification of suitable joint-space trajectories, since the joint velocities required to achieve a specific endeffector motion vary with manipulator configuration. For a given manipulator configuration, the joint space-to-task space velocity mapping is characterized by a quantity known as the manipulability index. In contrast to previous control-based approaches, we examine the maximization of manipulability during planning as a way of achieving adaptable and safe joint space-to-task space motion mappings in various scenarios. By representing the manipulator trajectory as a continuous-time Gaussian process (GP), we are able to leverage recent advances in trajectory optimization to maximize the manipulability index during trajectory generation. Moreover, the sparsity of our chosen representation reduces the typically large computational cost associated with maximizing manipulability when additional constraints exist. Results from simulation studies and experiments with a real manipulator demonstrate increases in manipulability, while maintaining smooth trajectories with more dexterous (and therefore more agile) arm configurations.
Pseudo-Labeling and Confirmation Bias in Deep Semi-Supervised Learning
Venue: arXiv cs.CV 2020
Year: 2020

Semi-supervised learning, i.e. jointly learning from labeled and unlabeled samples, is an active research topic due to its key role on relaxing human supervision. In the context of image classification, recent advances to learn from unlabeled samples are mainly focused on consistency regularization methods that encourage invariant predictions for different perturbations of unlabeled samples. We, conversely, propose to learn from unlabeled data by generating soft pseudo-labels using the network predictions. We show that a naive pseudo-labeling overfits to incorrect pseudo-labels due to the so-called confirmation bias and demonstrate that mixup augmentation and setting a minimum number of labeled samples per mini-batch are effective regularization techniques for reducing it. The proposed approach achieves state-of-the-art results in CIFAR-10/100, SVHN, and Mini-ImageNet despite being much simpler than other methods. These results demonstrate that pseudo-labeling alone can outperform consistency regularization methods, while the opposite was supposed in previous work. Source code is available at https://git.io/fjQsC.